quality_metrics.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
#include "reusex/types.hpp"
 
#include <Eigen/Core>
 
#include <cstdint>
#include <string>
#include <vector>
 
namespace reusex::geometry {

struct PlaneQuality {
  uint32_t label = 0;
  std::size_t point_count = 0;
  double rms = 0.0; 
  double p90 = 0.0; 
  Eigen::Vector3d normal = Eigen::Vector3d::Zero();
  Eigen::Vector3d centroid = Eigen::Vector3d::Zero();
};

struct QualityReport {
  std::size_t total_points = 0;
  std::size_t labeled_points = 0; 
  std::vector<PlaneQuality> planes;
 
  double flatness_rms = 0.0;     
  double flatness_rms_max = 0.0; 
  double thickness_p90 = 0.0;    
 
  [[nodiscard]] std::string to_json(int indent = 2) const;
};
 
struct QualityMetricsOptions {
  std::size_t min_points = 100;
};

QualityReport compute_plane_quality(const Cloud &cloud, const CloudL &labels,
                                    const QualityMetricsOptions &options = {});
 
} // namespace reusex::geometry